Predictive planter lookahead and display

Abstract

A predictive path lookahead system is used with an agricultural vehicle and/or agricultural implement. A variety of factors relating to the vehicle and/or implement are input into the system in order to measure and process the vehicle and/or implement's motion. A navigation orientation tool is also input into the system. The system then generates a predicted lookahead trajectory and/or predicted future position of the vehicle and/or implement and can display the predicted lookahead trajectory and/or predicted future position to a user. The system can automatically turn ON and/or turn OFF a row unit or can manually alert a user when to do so based on the predicted trajectory of the implement. The system can engage in auto-steering to operate the vehicle and/or implement autonomously.

1 . A predictive path lookahead system for use with an agricultural implement comprising:
 a plurality of row units;   a navigation orientation tool;   a navigation sensor to measure one or more navigation factors;   a motion model into which the one or more navigation factors can be input; and   a processing component to generate a predicted lookahead trajectory of the implement based on the navigation orientation tool and the motion model, said predicted lookahead trajectory being non-linear;   wherein the system is adapted to turn ON and/or turn OFF individual row units among the plurality of row units based on the predicted lookahead trajectory of the implement.   
     
     
         2 . The system of  claim 1 , wherein the navigation sensor comprises a GPS sensor and/or GPS receiver, a speed sensor, an attitude sensor, a tilt sensor, an acceleration sensor, an inertial measurement unit (IMU), one or more cameras, and/or a steering angle sensor. 
     
     
         3 . The system of  claim 1 , wherein the one or more navigation factors comprises GPS coordinates of the implement, speed of the implement, attitude of the implement, tilt of the implement, acceleration of the implement, heading of the implement, curvature, force, angular rate of the implement, orientation of the implement, trajectory of the implement, and/or steering angle of the implement. 
     
     
         4 . The system of  claim 3 , wherein the navigation factors are continuously monitored. 
     
     
         5 . The system of  claim 1 , further comprising a display in which the predicted lookahead trajectory of the implement can be displayed to a user. 
     
     
         6 . The system of  claim 1 , wherein each individual row unit is automatically turned ON and/or OFF. 
     
     
         7 . The system of  claim 1 , wherein the system alerts a user when to manually turn ON and/or turn OFF a row unit. 
     
     
         8 . The system of  claim 1 , wherein the navigation orientation tool is a map of agricultural terrain and/or an automated guidance tool. 
     
     
         9 . The system of  claim 1 , wherein the system is adapted to automatically steer the implement based on the predicted lookahead trajectory such that the implement can operate autonomously. 
     
     
         10 . The system of  claim 1 , wherein the motion model processes the one or more navigation factors. 
     
     
         11 . A method of predicting the future trajectory of an agricultural implement comprising:
 determining one or more navigation factors related to the agricultural implement;   inputting the one or more navigation factors into a motion model;   generating a non-linear predicted lookahead trajectory of the implement via navigation orientation information and the motion model; and   turning ON and/or turning OFF a row unit of the implement based on the non-linear predicted lookahead trajectory of the implement.   
     
     
         12 . The method of  claim 11 , wherein the one or more navigation factors comprise GPS coordinates of the implement, speed of the implement, attitude of the implement, tilt of the implement, acceleration of the implement, heading of the implement, curvature of the implement, force of the implement, angular rate of the implement, orientation of the implement, trajectory of the implement, and/or steering angle of the implement. 
     
     
         13 . The method of  claim 11 , wherein the navigation orientation information is based on a map of agricultural terrain and/or an automated guidance tool. 
     
     
         14 . The method of  claim 11 , further comprising displaying the non-linear predicted lookahead trajectory to a user. 
     
     
         15 . The method of  claim 11 , wherein the row unit is turned ON and/or turned OFF automatically. 
     
     
         16 . The method of  claim 11 , further comprising alerting a user when to manually turn ON and/or turn OFF the row unit. 
     
     
         17 . The method of  claim 11 , wherein the one or more navigation factors are determined by a navigation sensor that comprises a GPS sensor and/or GPS receiver, a speed sensor, an attitude sensor, a tilt sensor, an acceleration sensor, an inertial measurement unit (IMU), one or more cameras, and/or a steering angle sensor. 
     
     
         18 . The method of  claim 11 , wherein the one or more navigation factors related to the implement are continuously monitored. 
     
     
         19 . The method of  claim 11 , wherein the non-linear predicted lookahead trajectory may be generated via a Kalman filter. 
     
     
         20 . A predictive path lookahead system for use with an agricultural implement comprising:
 a row unit;   a navigation orientation tool;   a navigation sensor to measure a navigation factor;   a motion model into which the navigation factor can be input; and   a processing component to generate a predicted future position of the implement based on the navigation orientation tool and the motion model;   wherein the system is adapted to turn ON and/or turn OFF the row unit based on the predicted future position of the implement.